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<title>OpenCV: cv::aruco::GridBoard Class Reference</title>
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<li class="navelem"><a class="el" href="../../d2/d75/namespacecv.html">cv</a></li><li class="navelem"><a class="el" href="../../d4/d17/namespacecv_1_1aruco.html">aruco</a></li><li class="navelem"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html">GridBoard</a></li>  </ul>
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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="../../d4/d35/classcv_1_1aruco_1_1GridBoard-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">cv::aruco::GridBoard Class Reference<div class="ingroups"><a class="el" href="../../d9/d6a/group__aruco.html">ArUco Marker Detection</a></div></div>  </div>
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<p>Planar board with grid arrangement of markers More common type of board. All markers are placed in the same plane in a grid arrangement. The board can be drawn using <a class="el" href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85" title="Draw a planar board. ">drawPlanarBoard()</a> function (.  
 <a href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#details">More...</a></p>
<p><code>#include &lt;opencv2/aruco.hpp&gt;</code></p>
<div class="dynheader">
Inheritance diagram for cv::aruco::GridBoard:</div>
<div class="dyncontent">
 <div class="center">
  <img alt="" src="../../de/d05/classcv_1_1aruco_1_1GridBoard.png" usemap="#cv::aruco::GridBoard_map"/>
  <map id="cv::aruco::GridBoard_map" name="cv::aruco::GridBoard_map">
<area alt="cv::aruco::Board" coords="0,0,129,24" href="../../d4/db2/classcv_1_1aruco_1_1Board.html" shape="rect" title="Board of markers. "/>
</map>
 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aae344f00868cd472c430303c3cbfa998"><td align="right" class="memItemLeft" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#aae344f00868cd472c430303c3cbfa998">draw</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> outSize, <a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> img, int marginSize=0, int borderBits=1)</td></tr>
<tr class="memdesc:aae344f00868cd472c430303c3cbfa998"><td class="mdescLeft"> </td><td class="mdescRight">Draw a <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a>.  <a href="#aae344f00868cd472c430303c3cbfa998">More...</a><br/></td></tr>
<tr class="separator:aae344f00868cd472c430303c3cbfa998"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a453b9b227f2f67e87a10954195b91a33"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#a453b9b227f2f67e87a10954195b91a33">getGridSize</a> () const</td></tr>
<tr class="separator:a453b9b227f2f67e87a10954195b91a33"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad047ae499ce29e5769d80327c5388234"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#ad047ae499ce29e5769d80327c5388234">getMarkerLength</a> () const</td></tr>
<tr class="separator:ad047ae499ce29e5769d80327c5388234"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a01e706d6572529d00e1896b34a68c058"><td align="right" class="memItemLeft" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#a01e706d6572529d00e1896b34a68c058">getMarkerSeparation</a> () const</td></tr>
<tr class="separator:a01e706d6572529d00e1896b34a68c058"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a8f4db0a7faad559753887e9fdd43b74c"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html">GridBoard</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html#a8f4db0a7faad559753887e9fdd43b74c">create</a> (int markersX, int markersY, float markerLength, float markerSeparation, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d0b/classcv_1_1aruco_1_1Dictionary.html">Dictionary</a> &gt; &amp;<a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a733dd520d8e00312200aadab83c66672">dictionary</a>, int firstMarker=0)</td></tr>
<tr class="memdesc:a8f4db0a7faad559753887e9fdd43b74c"><td class="mdescLeft"> </td><td class="mdescRight">Create a <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a> object.  <a href="#a8f4db0a7faad559753887e9fdd43b74c">More...</a><br/></td></tr>
<tr class="separator:a8f4db0a7faad559753887e9fdd43b74c"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="inherit_header pub_static_methods_classcv_1_1aruco_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcv_1_1aruco_1_1Board')"><img alt="-" src="../../closed.png"/> Static Public Member Functions inherited from <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html">cv::aruco::Board</a></td></tr>
<tr class="memitem:a06243c9dcd6fedf32992388aa7527f59 inherit pub_static_methods_classcv_1_1aruco_1_1Board"><td align="right" class="memItemLeft" valign="top">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html">Board</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a06243c9dcd6fedf32992388aa7527f59">create</a> (<a class="el" href="../../dc/d84/group__core__basic.html#ga606feabe3b50ab6838f1ba89727aa07a">InputArrayOfArrays</a> <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#ae7c2f21aa18add0211c360935e3f589b">objPoints</a>, const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d0b/classcv_1_1aruco_1_1Dictionary.html">Dictionary</a> &gt; &amp;<a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a733dd520d8e00312200aadab83c66672">dictionary</a>, <a class="el" href="../../dc/d84/group__core__basic.html#ga353a9de602fe76c709e12074a6f362ba">InputArray</a> <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a101fa2154784ce5560898763773d6bd4">ids</a>)</td></tr>
<tr class="memdesc:a06243c9dcd6fedf32992388aa7527f59 inherit pub_static_methods_classcv_1_1aruco_1_1Board"><td class="mdescLeft"> </td><td class="mdescRight">Provide way to create <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html" title="Board of markers. ">Board</a> by passing necessary data. Specially needed in Python.  <a href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a06243c9dcd6fedf32992388aa7527f59">More...</a><br/></td></tr>
<tr class="separator:a06243c9dcd6fedf32992388aa7527f59 inherit pub_static_methods_classcv_1_1aruco_1_1Board"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_attribs_classcv_1_1aruco_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classcv_1_1aruco_1_1Board')"><img alt="-" src="../../closed.png"/> Public Attributes inherited from <a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html">cv::aruco::Board</a></td></tr>
<tr class="memitem:a733dd520d8e00312200aadab83c66672 inherit pub_attribs_classcv_1_1aruco_1_1Board"><td align="right" class="memItemLeft" valign="top"><a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d0b/classcv_1_1aruco_1_1Dictionary.html">Dictionary</a> &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a733dd520d8e00312200aadab83c66672">dictionary</a></td></tr>
<tr class="memdesc:a733dd520d8e00312200aadab83c66672 inherit pub_attribs_classcv_1_1aruco_1_1Board"><td class="mdescLeft"> </td><td class="mdescRight">the dictionary of markers employed for this board  <a href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a733dd520d8e00312200aadab83c66672">More...</a><br/></td></tr>
<tr class="separator:a733dd520d8e00312200aadab83c66672 inherit pub_attribs_classcv_1_1aruco_1_1Board"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a101fa2154784ce5560898763773d6bd4 inherit pub_attribs_classcv_1_1aruco_1_1Board"><td align="right" class="memItemLeft" valign="top">std::vector&lt; int &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#a101fa2154784ce5560898763773d6bd4">ids</a></td></tr>
<tr class="separator:a101fa2154784ce5560898763773d6bd4 inherit pub_attribs_classcv_1_1aruco_1_1Board"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae7c2f21aa18add0211c360935e3f589b inherit pub_attribs_classcv_1_1aruco_1_1Board"><td align="right" class="memItemLeft" valign="top">std::vector&lt; std::vector&lt; <a class="el" href="../../dc/d84/group__core__basic.html#ga3d79ceeb4419bccd0308dfdf1cd31435">Point3f</a> &gt; &gt; </td><td class="memItemRight" valign="bottom"><a class="el" href="../../d4/db2/classcv_1_1aruco_1_1Board.html#ae7c2f21aa18add0211c360935e3f589b">objPoints</a></td></tr>
<tr class="separator:ae7c2f21aa18add0211c360935e3f589b inherit pub_attribs_classcv_1_1aruco_1_1Board"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a id="details" name="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Planar board with grid arrangement of markers More common type of board. All markers are placed in the same plane in a grid arrangement. The board can be drawn using <a class="el" href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85" title="Draw a planar board. ">drawPlanarBoard()</a> function (. </p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="../../d9/d6a/group__aruco.html#gacc98e7993d9f78c9eb1250f030896e85" title="Draw a planar board. ">drawPlanarBoard</a>) </dd></dl>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a8f4db0a7faad559753887e9fdd43b74c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f4db0a7faad559753887e9fdd43b74c">◆ </a></span>create()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">static <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt;<a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html">GridBoard</a>&gt; cv::aruco::GridBoard::create </td>
          <td>(</td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>markersX</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>markersY</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>markerLength</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float </td>
          <td class="paramname"><em>markerSeparation</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../dc/d84/group__core__basic.html#ga6395ca871a678020c4a31fadf7e8cc63">Ptr</a>&lt; <a class="el" href="../../d5/d0b/classcv_1_1aruco_1_1Dictionary.html">Dictionary</a> &gt; &amp; </td>
          <td class="paramname"><em>dictionary</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>firstMarker</em> = <code>0</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">static</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.aruco.GridBoard_create(</td><td class="paramname">markersX, markersY, markerLength, markerSeparation, dictionary[, firstMarker]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Create a <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a> object. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">markersX</td><td>number of markers in X direction </td></tr>
    <tr><td class="paramname">markersY</td><td>number of markers in Y direction </td></tr>
    <tr><td class="paramname">markerLength</td><td>marker side length (normally in meters) </td></tr>
    <tr><td class="paramname">markerSeparation</td><td>separation between two markers (same unit as markerLength) </td></tr>
    <tr><td class="paramname">dictionary</td><td>dictionary of markers indicating the type of markers </td></tr>
    <tr><td class="paramname">firstMarker</td><td>id of first marker in dictionary to use on board. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>the output <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a> object</dd></dl>
<p>This functions creates a <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a> object given the number of markers in each direction and the marker size and marker separation. </p>
</div>
</div>
<a id="aae344f00868cd472c430303c3cbfa998"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aae344f00868cd472c430303c3cbfa998">◆ </a></span>draw()</h2>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void cv::aruco::GridBoard::draw </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> </td>
          <td class="paramname"><em>outSize</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dc/d84/group__core__basic.html#gaad17fda1d0f0d1ee069aebb1df2913c0">OutputArray</a> </td>
          <td class="paramname"><em>img</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>marginSize</em> = <code>0</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int </td>
          <td class="paramname"><em>borderBits</em> = <code>1</code> </td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>img</td><td>=</td><td>cv.aruco_GridBoard.draw(</td><td class="paramname">outSize[, img[, marginSize[, borderBits]]]</td><td>)</td></tr></table>
</div><div class="memdoc">
<p>Draw a <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a>. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">outSize</td><td>size of the output image in pixels. </td></tr>
    <tr><td class="paramname">img</td><td>output image with the board. The size of this image will be outSize and the board will be on the center, keeping the board proportions. </td></tr>
    <tr><td class="paramname">marginSize</td><td>minimum margins (in pixels) of the board in the output image </td></tr>
    <tr><td class="paramname">borderBits</td><td>width of the marker borders.</td></tr>
  </table>
  </dd>
</dl>
<p>This function return the image of the <a class="el" href="../../de/d05/classcv_1_1aruco_1_1GridBoard.html" title="Planar board with grid arrangement of markers More common type of board. All markers are placed in th...">GridBoard</a>, ready to be printed. </p>
</div>
</div>
<a id="a453b9b227f2f67e87a10954195b91a33"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a453b9b227f2f67e87a10954195b91a33">◆ </a></span>getGridSize()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="../../dc/d84/group__core__basic.html#ga346f563897249351a34549137c8532a0">Size</a> cv::aruco::GridBoard::getGridSize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.aruco_GridBoard.getGridSize(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="ad047ae499ce29e5769d80327c5388234"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad047ae499ce29e5769d80327c5388234">◆ </a></span>getMarkerLength()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float cv::aruco::GridBoard::getMarkerLength </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.aruco_GridBoard.getMarkerLength(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<a id="a01e706d6572529d00e1896b34a68c058"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a01e706d6572529d00e1896b34a68c058">◆ </a></span>getMarkerSeparation()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">float cv::aruco::GridBoard::getMarkerSeparation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table><table class="python_language"><tr><th colspan="999" style="text-align:left">Python:</th></tr><tr><td style="width: 20px;"></td><td>retval</td><td>=</td><td>cv.aruco_GridBoard.getMarkerSeparation(</td><td class="paramname"></td><td>)</td></tr></table>
</div><div class="memdoc">
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>opencv2/<a class="el" href="../../d9/d53/aruco_8hpp.html">aruco.hpp</a></li>
</ul>
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